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In order to make the data to be coordinated, efficient, fast and stable in the whole CAN bus network, a design method of the core processor in the CAN bus node structure is proposed, which uses FPGA as the core processor in the design of CAN bus system in petroleum equipment integrated navigation system based on DSP + FPGA structure. Using the SPI interface with the MCP2515 as the CAN controller, and using FPGA to achieve the MCP2515 initialization, data transmission and reception, DSP processor CAN bus expansion is implemented. This method due to FPGA to control the amount of CAN node work, DSP only needs to read CAN data receive FIFO and write CAN data transmission FIFO, which can complete the CAN bus data read and write operations, greatly reducing the DSP data processing pressure. The test and product application show that the design is effective, stable, reliable, scalable, easy to modify and transplant, and has strong engineering and practical value.